相关论文: Advancing Dense Endoscopic Reconstruction with Gau…
Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in…
This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The proposed method performs robust and accurate…
Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…
High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of scenes. However, these methods often overlook issues of detail…
Simultaneous Localization and Mapping (SLAM) is a critical task that enables autonomous vehicles to construct maps and localize themselves in unknown environments. Recent breakthroughs combine SLAM with 3D Gaussian Splatting (3DGS) to…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…
Accurate reconstruction of soft tissue is crucial for advancing automation in image-guided robotic surgery. The recent 3D Gaussian Splatting (3DGS) techniques and their variants, 4DGS, achieve high-quality renderings of dynamic surgical…
3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…
We propose the first 4D tracking and mapping method that jointly performs camera localization and non-rigid surface reconstruction via differentiable rendering. Our approach captures 4D scenes from an online stream of color images with…
Recent advances in dense 3D reconstruction have demonstrated strong capability in accurately capturing local geometry. However, extending these methods to incremental global reconstruction, as required in SLAM systems, remains challenging.…
Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…
Initial applications of 3D Gaussian Splatting (3DGS) in Visual Simultaneous Localization and Mapping (VSLAM) demonstrate the generation of high-quality volumetric reconstructions from monocular video streams. However, despite these…
The accurate 3D reconstruction of deformable soft body tissues from endoscopic videos is a pivotal challenge in medical applications such as VR surgery and medical image analysis. Existing methods often struggle with accuracy and the…
Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number of redundant 3D Gaussian…
Combining 3D Gaussian splatting with Simultaneous Localization and Mapping (SLAM) has gained popularity as it enables continuous 3D environment reconstruction during motion. However, existing methods struggle in dynamic environments,…
We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM methods achieve dense and photorealistic mapping, their…
Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…
Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…
The 3D Gaussian Splatting (3DGS)-based SLAM system has garnered widespread attention due to its excellent performance in real-time high-fidelity rendering. However, in real-world environments with dynamic objects, existing 3DGS-based SLAM…